CN110058274B - Method and system for monitoring time difference between satellite navigation systems - Google Patents
Method and system for monitoring time difference between satellite navigation systems Download PDFInfo
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- CN110058274B CN110058274B CN201910379350.6A CN201910379350A CN110058274B CN 110058274 B CN110058274 B CN 110058274B CN 201910379350 A CN201910379350 A CN 201910379350A CN 110058274 B CN110058274 B CN 110058274B
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Abstract
The invention discloses a method and a system for monitoring time difference between satellite navigation systems. The invention provides a time difference monitoring method based on an intersystem difference principle, which is characterized in that an original pseudo-range observation value is subjected to intersystem difference to form an intersystem difference observation equation, and parameter estimation is carried out to directly obtain a system time difference parameter. According to the method, partial common errors are effectively weakened, combined observed quantity is increased, and parameter solving strength and redundancy are improved through an intersystem difference principle; meanwhile, a plurality of receiver clock difference parameters are effectively eliminated, and high-precision measuring station position and system time difference parameter information can be directly obtained.
Description
Technical Field
The invention relates to the field of satellite navigation, in particular to a method and a system for monitoring time difference between satellite navigation systems.
Background
System time difference parameters exist among different Satellite Navigation System (GNSS) systems, and have important influence on the compatibility and interoperability of multiple GNSS systems. Currently, a GNSS system time difference monitoring method mainly includes a method of establishing a time comparison link and a spatial signal. The method for establishing the time comparison link needs special expensive equipment and is difficult to implement; and the common space signal method is based on the pseudo range observation and the single-point positioning mode with low precision, and the precision is lower. How to effectively reduce the time difference monitoring cost, ensure better time difference monitoring precision and better serve the compatibility and interoperation of multiple GNSS has important value.
Disclosure of Invention
The invention aims to provide a method and a system for monitoring time difference between satellite navigation systems, so as to obtain high-precision system time difference parameter information and reduce monitoring cost.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a time difference monitoring method between satellite navigation systems, which comprises the following steps:
acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a first satellite navigation system to be monitored to obtain first dual-frequency pseudo range observation data and first auxiliary parameter data; the auxiliary parameter values comprise satellite orbits, satellite clock errors and earth rotation parameters;
acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a second satellite navigation system to be monitored to obtain second dual-frequency pseudo range observation data and second auxiliary parameter data;
respectively carrying out ionosphere-free combination on the first dual-frequency pseudo range observation data and the second dual-frequency pseudo range observation data to obtain first dual-frequency pseudo range ionosphere-free observation data and second dual-frequency pseudo range ionosphere-free observation data;
carrying out differential operation on the first double-frequency pseudo range ionosphere-free combined observation data and the second double-frequency pseudo range ionosphere-free combined observation data to establish a differential observation equation;
carrying out differential operation on the first auxiliary parameter data and the second auxiliary parameter data, and establishing a time difference monitoring random model;
and solving the differential observation equation and the time difference monitoring random model by adopting a least square method to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system.
Optionally, the performing a differential operation on the first dual-frequency pseudorange ionosphere-free combined observed data and the second dual-frequency pseudorange ionosphere-free combined observed data to establish a differential observation equation specifically includes:
performing differential operation on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data to establish a differential observation equation:
wherein, PA,iAnd PB,jRespectively representing the ionospheric-free combined observation values rho of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BA,iRepresenting the geometric distance, p, between the ith satellite of the first satellite navigation system A and the survey stationB,jRepresenting the geometric distance between the jth satellite of the second satellite navigation system B and the survey station;
a time difference between the first satellite navigation system A and the second satellite navigation system B; mA,iAnd MB,jTropospheric mapping coefficients representing an ith satellite of the first satellite navigation system a and a jth satellite of the second satellite navigation system B, respectively;
and
respectively representing the observation noise of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B; t is the tropospheric delay and others is the sum of relativistic error, tidal error, antenna phase center bias, tropospheric residual and earth rotation error.
Optionally, the performing a difference operation on the first auxiliary parameter data and the second auxiliary parameter data to establish a time difference monitoring random model specifically includes:
calculating the altitude angle of each satellite of the first satellite navigation system according to the first auxiliary parameter data to obtain first altitude angle data;
calculating the altitude angle of each satellite of the second satellite navigation system according to the second auxiliary parameter data to obtain second altitude angle data;
establishing a time difference monitoring random model according to the first elevation angle data and the second elevation angle data:
wherein alpha isAiIs the observed noise, alpha, of the ith satellite of the first satellite navigation system ABjIs the observed noise of the jth satellite of the second satellite navigation system B, EAiIs the altitude angle of the ith satellite of the first satellite navigation system A, EBiIs the altitude angle of the jth satellite of the second satellite navigation system B.
Optionally, the method for solving the differential observation equation and the time difference monitoring random model by using a least square method to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system includes:
carrying out linearization processing on the differential observation equation to obtain an error equation: v is EX-L;
wherein V is a residual vector,
vAB,AiBjthe difference value of the dual-frequency pseudo range ionosphere-free combined observation values of the ith satellite A of the first satellite navigation system and the jth satellite of the second satellite navigation system B is represented; i 1,2, …, R, j 1,2, …, S, R representing the number of satellites of the first satellite navigation system and S representing the number of satellites of the second satellite navigation system vAB,AiBj＝PA,i-PB,j(ii) a E is a coefficient matrix of the unknown parameters,
ΔmAB,AiBjdenotes the difference, Δ m, of the tropospheric mapping systems of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BAB,AiBj＝MA,i-MB,j；
A unit vector representing the position of the jth satellite of the first satellite navigation system A to the position of the jth satellite of the second satellite navigation system B; x is an unknown parameter vector and X is an unknown parameter vector,
(x, y, z) are the three-dimensional coordinates of the station, L is a constant term vector,
lAB,AiBjconstant coefficients relating to the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B are represented;
performing linear processing on the time difference monitoring random model to obtain a weight matrix corresponding to the error equation:
pAB,AiBjrepresenting the weight of the dual-frequency pseudo range ionospheric-free observation data of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B;
according to the error equation and the weight matrix corresponding to the error equation, a least square method is adopted, and a formula X is ═ T (E) PE]-1*[T(E)PL]Solving the unknown parameter vector X to obtain the three-dimensional coordinates (X, y, z) of the survey station, the troposphere delay T and the time difference between the first satellite navigation system A and the second satellite navigation system B
The invention also provides a time difference monitoring system between satellite navigation systems, which is characterized by comprising the following components:
the first data acquisition module is used for acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a first satellite navigation system to be monitored to obtain first dual-frequency pseudo range observation data and first auxiliary parameter data; the auxiliary parameter values comprise satellite orbits, satellite clock errors and earth rotation parameters;
the second data acquisition module is used for acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a second satellite navigation system to be monitored to obtain second dual-frequency pseudo range observation data and second auxiliary parameter data;
the ionosphere-free combination module is used for respectively carrying out ionosphere-free combination on the first dual-frequency pseudo range observation data and the second dual-frequency pseudo range observation data to obtain first dual-frequency pseudo range ionosphere-free observation data and second dual-frequency pseudo range ionosphere-free observation data;
the differential observation equation establishing module is used for carrying out differential operation on the first double-frequency pseudo range non-ionospheric combined observation data and the second double-frequency pseudo range non-ionospheric combined observation data to establish a differential observation equation;
the time difference monitoring random model establishing module is used for carrying out differential operation on the first auxiliary parameter data and the second auxiliary parameter data and establishing a time difference monitoring random model;
and the parameter solving module is used for solving the differential observation equation and the time difference monitoring random model by adopting a least square method to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system.
Optionally, the difference observation equation establishing module specifically includes:
a difference observation equation establishing submodule, configured to perform difference operation on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data, and establish a difference observation equation:
wherein, PA,iAnd PB,jRespectively representing the ionospheric-free combined observation values rho of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BA,iRepresenting the geometric distance, p, between the ith satellite of the first satellite navigation system A and the survey stationB,jRepresenting the geometric distance between the jth satellite of the second satellite navigation system B and the survey station;
a time difference between the first satellite navigation system A and the second satellite navigation system B; mA,iAnd MB,jTropospheric mapping coefficients representing an ith satellite of the first satellite navigation system a and a jth satellite of the second satellite navigation system B, respectively;
and
respectively representing the observation noise of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B; t is the tropospheric delay and others is the sum of relativistic error, tidal error, antenna phase center bias, tropospheric residual and earth rotation error.
Optionally, the time difference monitoring random model establishing module specifically includes:
the first altitude angle calculation submodule is used for calculating the altitude angle of each satellite of the first satellite navigation system according to the first auxiliary parameter data to obtain first altitude angle data;
the second altitude angle calculation submodule is used for calculating the altitude angle of each satellite of the second satellite navigation system according to the second auxiliary parameter data to obtain second altitude angle data;
the time difference monitoring random model establishing submodule is used for establishing a time difference monitoring random model according to the first altitude angle data and the second altitude angle data:
wherein alpha isAiIs the observed noise, alpha, of the ith satellite of the first satellite navigation system ABjIs the observed noise of the jth satellite of the second satellite navigation system B, EAiIs the altitude angle of the ith satellite of the first satellite navigation system A, EBiIs the jth satellite altitude of the second satellite navigation system B.
Optionally, the parameter solving module specifically includes:
the first linearization submodule is used for carrying out linearization processing on the differential observation equation to obtain an error equation: v is EX-L;
wherein V is a residual vector,
vAB,AiBjthe difference value of the dual-frequency pseudo range ionosphere-free combined observation values of the ith satellite A of the first satellite navigation system and the jth satellite of the second satellite navigation system B is represented; i 1,2, …, R, j 1,2, …, S, R representing the number of satellites of the first satellite navigation system and S representing the number of satellites of the second satellite navigation system vAB,AiBj＝PA,i-PB,j(ii) a E is a coefficient matrix of the unknown parameters,
ΔmAB,AiBjdenotes the difference, Δ m, of the tropospheric mapping systems of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BAB,AiBj＝MA,i-MB,j；
A unit vector representing the position of the jth satellite of the first satellite navigation system A to the position of the jth satellite of the second satellite navigation system B; x is an unknown parameter vector and X is an unknown parameter vector,
(x, y, z) are the three-dimensional coordinates of the station, L is a constant term vector,
lAB,AiBjconstant coefficients relating to the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B are represented;
a second linearization submodule for monitoring the time differenceCarrying out linear processing on the random model to obtain a weight matrix:
pAB,AiBjrepresenting the weight of the ionosphere-free combined observation value of the dual-frequency pseudo range of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B;
a parameter solving submodule for adopting a least square method according to the error equation and the corresponding weight matrix and utilizing a formula X ═ T (E) PE]-1*[T(E)PL]Solving the unknown parameter vector X to obtain the three-dimensional coordinates (X, y, z) of the monitoring station, the troposphere delay T and the time difference between the first satellite navigation system A and the second satellite navigation system B
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a method and a system for monitoring time difference between satellite navigation systems. The invention provides a time difference monitoring method based on an intersystem difference principle, which is characterized in that an original pseudo-range observation value is subjected to intersystem difference to form an intersystem difference observation equation, and parameter estimation is carried out to directly obtain a system time difference parameter. According to the method, partial common errors are effectively weakened, combined observed quantity is increased, and parameter solving strength and redundancy are improved through an intersystem difference principle; meanwhile, a plurality of receiver clock difference parameters are effectively eliminated, and high-precision measuring station position and system time difference parameter information can be directly obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a method for monitoring a time difference between satellite navigation systems according to the present invention;
FIG. 2 is a schematic diagram of a method for monitoring time difference between satellite navigation systems according to the present invention;
fig. 3 is a structural diagram of a time difference monitoring system between satellite navigation systems according to the present invention.
Detailed Description
The invention aims to provide a method and a system for monitoring time difference between satellite navigation systems, so as to obtain high-precision system time difference parameter information and reduce monitoring cost.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 and 2, the present invention provides a method for monitoring a time difference between satellite navigation systems, the method comprising the steps of:
first, data is acquired. The GNSS observation data to be monitored, precision orbit and clock error products collected on the survey station and auxiliary products (earth rotation parameters, DCB correction, antenna files and the like) required by data processing are collected, specifically:
Performing data quality inspection and gross error elimination on the first dual-frequency pseudo range observation data and the second dual-frequency pseudo range observation data based on the first auxiliary parameter and the second auxiliary parameter for the obtained first dual-frequency pseudo range observation data, the first auxiliary parameter, the second dual-frequency pseudo range observation data and the second auxiliary parameter, and deleting data without satellite ephemeris or incomplete observation values to obtain clean data; correcting relativity, tide, antenna phase center, troposphere and earth rotation error of the clean data, wherein the relativity and tide correction uses model correction in IERS convections 2010, the antenna phase center correction uses igs14.atx model correction, the troposphere correction uses Saastamoinen model correction, and the earth rotation error correction uses IERS EOP C04 model correction; and carrying out ionosphere-free combination on the corrected dual-frequency pseudo-range observed value to form an ionosphere-free combined observed value.
Then, the inter-system differential observation composition. For two independent GNSS systems, each satellite of one system is differentiated from each satellite of the other system to form an inter-system differential observation value.
Then, a time difference monitoring model is established. Based on the orbit and clock error products, calculating the satellite height angle corresponding to each satellite and the troposphere projection coefficient on the observation station to form a time difference monitoring function model and a random model, specifically:
wherein, PA,iAnd PB,jRespectively representing the ionospheric-free combined observation values rho of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BA,iRepresenting the geometric distance, p, between the ith satellite of the first satellite navigation system A and the survey stationB,jRepresenting the geometric distance between the jth satellite of the second satellite navigation system B and the survey station;
a time difference between the first satellite navigation system A and the second satellite navigation system B; mA,iAnd MB,jTropospheric mapping coefficients representing an ith satellite of the first satellite navigation system a and a jth satellite of the second satellite navigation system B, respectively;
and
respectively representing the observation noise of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B; t is the tropospheric delay and others is the sum of relativistic error, tidal error, antenna phase center bias, tropospheric residual and earth rotation error.
105, carrying out differential operation on the first auxiliary parameter data and the second auxiliary parameter data, and establishing a time difference monitoring random model; the method specifically comprises the following steps:
calculating the altitude angle of each satellite of the first satellite navigation system according to the first auxiliary parameter data to obtain first altitude angle data;
calculating the altitude angle of each satellite of the second satellite navigation system according to the second auxiliary parameter data to obtain second altitude angle data;
establishing a time difference monitoring random model according to the first elevation angle data and the second elevation angle data:
wherein alpha isAiIs the observed noise, alpha, of the ith satellite of the first satellite navigation system ABjIs the observed noise of the jth satellite of the second satellite navigation system B, EAiIs the altitude angle of the ith satellite of the first satellite navigation system A, EBiFor the altitude angle of the jth satellite of the second satellite navigation system B
And finally, estimating time difference parameters. The method adopts a least square algorithm to carry out parameter estimation, estimates the coordinates of the measuring station, troposphere parameters and time difference monitoring parameters in real time, and specifically comprises the following steps:
and 106, solving the differential observation equation and the time difference monitoring random model by adopting a least square method to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system.
Specifically, the difference observation equation is linearized to obtain an error equation: v is EX-L;
wherein V is a residual vector,
vAB,AiBjthe difference value of the dual-frequency pseudo range ionosphere-free combined observation values of the ith satellite A of the first satellite navigation system and the jth satellite of the second satellite navigation system B is represented; i 1,2, …, R, j 1,2, …, S, R representing the number of satellites of the first satellite navigation system and S representing the number of satellites of the second satellite navigation system vAB,AiBj＝PA,i-PB,j(ii) a E is a coefficient matrix of the unknown parameters,
ΔmAB,AiBjdenotes the difference, Δ m, of the tropospheric mapping systems of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BAB,AiBj＝MA,i-MB,j；
A unit vector representing the position of the jth satellite of the first satellite navigation system A to the position of the jth satellite of the second satellite navigation system B; x is an unknown parameter vector and X is an unknown parameter vector,
(x, y, z) are the three-dimensional coordinates of the station, L is a constant term vector,
lAB,AiBjis shown withA constant coefficient related to the ith satellite of the satellite navigation system A and the jth satellite of the second satellite navigation system B;
performing linear processing on the time difference monitoring random model to obtain a weight matrix corresponding to the error equation:
pAB,AiBjrepresenting the weight of the ionosphere-free combined observation value of the dual-frequency pseudo range of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B;
according to the error equation and the corresponding weight matrix of the error equation, adopting a least square method and utilizing a formula X ═ T (E) PE]-1*[T(E)PL]Solving the unknown parameter vector X to obtain the three-dimensional coordinates (X, y, z) of the monitoring station, the troposphere delay T and the time difference between the first satellite navigation system A and the second satellite navigation system B
The unknown parameters are three-dimensional coordinates (x, y, z) of the survey station, tropospheric delay (T) and system time difference
Tropospheric delay is estimated once per hour, the three-dimensional coordinates of the stations can be statically or dynamically estimated, and the system time difference parameter is estimated once per epoch.
As shown in fig. 3, the present invention further provides a time difference monitoring system between satellite navigation systems, the monitoring system comprising:
a first data obtaining module 301, configured to obtain a dual-frequency pseudorange observed value and an auxiliary parameter value of each satellite of a first satellite navigation system to be monitored, to obtain first dual-frequency pseudorange observed data and first auxiliary parameter data; the auxiliary parameter values comprise satellite orbits, satellite clock errors and earth rotation parameters;
a second data obtaining module 302, configured to obtain a dual-frequency pseudorange observed value and an auxiliary parameter value of each satellite of a second satellite navigation system to be monitored, so as to obtain second dual-frequency pseudorange observed data and second auxiliary parameter data;
an ionosphere-free combination module 303, configured to perform ionosphere-free combination on the first dual-frequency pseudorange observation data and the second dual-frequency pseudorange observation data, respectively, to obtain first dual-frequency pseudorange ionosphere-free observation data and second dual-frequency pseudorange ionosphere-free observation data;
a differential observation equation establishing module 304, configured to perform differential operation on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data, so as to establish a differential observation equation; the differential observation equation establishing module 305 specifically includes: a difference observation equation establishing submodule, configured to perform difference operation on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data, and establish a difference observation equation:
wherein, PA,iAnd PB,jRespectively representing the ionospheric-free combined observation values rho of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BA,iRepresenting the geometric distance, p, between the ith satellite of the first satellite navigation system A and the survey stationB,jRepresenting the geometric distance between the jth satellite of the second satellite navigation system B and the survey station;
a time difference between the first satellite navigation system A and the second satellite navigation system B; mA,iAnd MB,jTropospheric mapping coefficients representing an ith satellite of the first satellite navigation system a and a jth satellite of the second satellite navigation system B, respectively;
and
respectively represent the first satelliteObservation noise of the ith satellite of the satellite navigation system A and the jth satellite of the second satellite navigation system B; t is the tropospheric delay and others is the sum of relativistic error, tidal error, antenna phase center bias, tropospheric residual and earth rotation error.
A time difference monitoring random model establishing module 304, configured to perform differential operation on the first auxiliary parameter data and the second auxiliary parameter data, and establish a time difference monitoring random model; the time difference monitoring stochastic model establishing module 304 specifically includes: the first altitude angle calculation submodule is used for calculating the altitude angle of each satellite of the first satellite navigation system according to the first auxiliary parameter data to obtain first altitude angle data; the second altitude angle calculation submodule is used for calculating the altitude angle of each satellite of the second satellite navigation system according to the second auxiliary parameter data to obtain second altitude angle data; the time difference monitoring random model establishing submodule is used for establishing a time difference monitoring random model according to the first altitude angle data and the second altitude angle data:
wherein alpha isAiIs the observed noise, alpha, of the ith satellite of the first satellite navigation system ABjIs the observed noise of the jth satellite of the second satellite navigation system B, EAiIs the altitude angle of the ith satellite of the first satellite navigation system A, EBiIs the jth satellite altitude of the second satellite navigation system B.
And a parameter solving module 305, configured to solve the differential observation equation and the time difference monitoring random model by using a least square method, so as to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system.
The parameter solving module 305 specifically includes:
the first linearization submodule is used for carrying out linearization processing on the differential observation equation to obtain an error equation: v is EX-L.
Wherein V is a residual vector,
vAB,AiBjthe difference value of the dual-frequency pseudo range ionosphere-free combined observation values of the ith satellite A of the first satellite navigation system and the jth satellite of the second satellite navigation system B is represented; i 1,2, …, R, j 1,2, …, S, R representing the number of satellites of the first satellite navigation system and S representing the number of satellites of the second satellite navigation system vAB,AiBj＝PA,i-PB,j(ii) a E is a coefficient matrix of the unknown parameters,
ΔmAB,AiBjdenotes the difference, Δ m, of the tropospheric mapping systems of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BAB,AiBj＝MA,i-MB,j；
A unit vector representing the position of the jth satellite of the first satellite navigation system A to the position of the jth satellite of the second satellite navigation system B; x is an unknown parameter vector and X is an unknown parameter vector,
(x, y, z) are the three-dimensional coordinates of the station, L is a constant term vector,
lAB,AiBjrepresenting constant coefficients associated with the ith satellite of the first satellite navigation system a and the jth satellite of the second satellite navigation system B.
The second linearization submodule is used for carrying out linear processing on the time difference monitoring random model to obtain a weight matrix corresponding to the error equation:
pAB,AiBjand the weight of the ionosphere-free combined observation value of the dual-frequency pseudo range of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B is represented.
A parameter solving submodule for adopting a least square method according to the error equation and the corresponding weight matrix of the error equation and utilizing a formula X ═ T (E) PE]-1*[T(E)PL]Solving the unknown parameter vector X to obtain the three-dimensional coordinates (X, y, z) of the survey station, the troposphere delay T and the time difference between the first satellite navigation system A and the second satellite navigation system B
The invention has the beneficial effects that:
firstly, the difference processing between systems is directly carried out to obtain the time difference parameter information with high precision.
The invention directly carries out the differential processing between the systems on the GNSS observation value, thereby not only eliminating the receiver clock difference parameter with random characteristic, but also reserving the system time difference parameter information, and being directly applied to the GNSS system time difference parameter monitoring.
And secondly, common errors are effectively weakened, combined observed quantity is increased, and the intensity and performance of parameter solving are improved.
The system difference principle can eliminate common errors such as multipath and coordinate systems, and the observed quantity is increased through the difference combination of the observed values, so that the model strength and the parameter estimation performance of parameter solution are improved.
Thirdly, the method is simple and reliable, and is convenient to implement in real time.
Compared with complex and expensive equipment for establishing a time comparison link, the method can be simply implemented at the user side, can complete time difference monitoring only by simple differential calculation, and is convenient for real-time application.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principle and the implementation manner of the present invention are explained by applying specific examples, the above description of the embodiments is only used to help understanding the method of the present invention and the core idea thereof, the described embodiments are only a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
Claims (4)
1. A method for monitoring time difference between satellite navigation systems, the method comprising the steps of:
acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a first satellite navigation system to be monitored to obtain first dual-frequency pseudo range observation data and first auxiliary parameter data; the auxiliary parameter values comprise satellite orbits, satellite clock errors and earth rotation parameters;
acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a second satellite navigation system to be monitored to obtain second dual-frequency pseudo range observation data and second auxiliary parameter data;
respectively carrying out ionosphere-free combination on the first dual-frequency pseudo range observation data and the second dual-frequency pseudo range observation data to obtain first dual-frequency pseudo range ionosphere-free observation data and second dual-frequency pseudo range ionosphere-free observation data;
carrying out differential operation on the first double-frequency pseudo range ionosphere-free combined observation data and the second double-frequency pseudo range ionosphere-free combined observation data to establish a differential observation equation;
carrying out differential operation on the first auxiliary parameter data and the second auxiliary parameter data, and establishing a time difference monitoring random model;
solving the differential observation equation and the time difference monitoring random model by adopting a least square method to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system;
the differential operation is performed on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data, and a differential observation equation is established, which specifically includes:
performing differential operation on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data to establish a differential observation equation:
wherein, PA,iAnd PB,jRespectively representing the ionospheric-free combined observation values rho of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BA,iRepresenting the geometric distance, p, between the ith satellite of the first satellite navigation system A and the survey stationB,jRepresenting the geometric distance between the jth satellite of the second satellite navigation system B and the survey station;
a time difference between the first satellite navigation system A and the second satellite navigation system B; mA,iAnd MB,jTropospheric mapping coefficients representing an ith satellite of the first satellite navigation system a and a jth satellite of the second satellite navigation system B, respectively;
and
respectively representing the observation noise of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B; t is tropospheric delay, others is the sum of relativistic error, tidal error, antenna phase center deviation, tropospheric residual error and earth rotation error;
the differential operation is performed on the first auxiliary parameter data and the second auxiliary parameter data, and a time difference monitoring random model is established, which specifically includes:
calculating the altitude angle of each satellite of the first satellite navigation system according to the first auxiliary parameter data to obtain first altitude angle data;
calculating the altitude angle of each satellite of the second satellite navigation system according to the second auxiliary parameter data to obtain second altitude angle data;
establishing a time difference monitoring random model according to the first elevation angle data and the second elevation angle data:
wherein alpha isAiIs the observed noise, alpha, of the ith satellite of the first satellite navigation system ABjIs the observed noise of the jth satellite of the second satellite navigation system B, EAiIs the altitude angle of the ith satellite of the first satellite navigation system A, EBiIs the altitude angle of the jth satellite of the second satellite navigation system B.
2. The method for monitoring time difference between satellite navigation systems according to claim 1, wherein the obtaining of the time difference parameter between the first satellite navigation system and the second satellite navigation system by solving the differential observation equation and the time difference monitoring stochastic model by a least square method specifically comprises:
carrying out linearization processing on the differential observation equation to obtain an error equation:
V＝EX-L；
wherein V is a residual vector,
vAB,AiBjthe difference value of the dual-frequency pseudo range ionosphere-free combined observation values of the ith satellite A of the first satellite navigation system and the jth satellite of the second satellite navigation system B is represented; i 1,2, …, R, j 1,2, …, S, R representing the number of satellites of the first satellite navigation system and S representing the number of satellites of the second satellite navigation system vAB ,AiBj＝PA,i-PB,j(ii) a E is a coefficient matrix of the unknown parameters,
performing linear processing on the time difference monitoring random model to obtain a weight matrix corresponding to the error equation:
pAB,AiBjrepresenting the weight of a double-frequency pseudo range non-ionosphere observation value of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B;
according to the error equation and the weight matrix corresponding to the error equation, a least square method is adopted, and a formula X is ═ T (E) PE]-1*[T(E)PL]Solving the unknown parameter vector X to obtain the three-dimensional coordinates (X, y, z) of the survey station, the troposphere delay T and the time difference between the first satellite navigation system A and the second satellite navigation system B
3. A system for monitoring time differences between satellite navigation systems, the system comprising:
the first data acquisition module is used for acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a first satellite navigation system to be monitored to obtain first dual-frequency pseudo range observation data and first auxiliary parameter data; the auxiliary parameter values comprise satellite orbits, satellite clock errors and earth rotation parameters;
the second data acquisition module is used for acquiring a dual-frequency pseudo range observation value and an auxiliary parameter value of each satellite of a second satellite navigation system to be monitored to obtain second dual-frequency pseudo range observation data and second auxiliary parameter data;
the ionosphere-free combination module is used for respectively carrying out ionosphere-free combination on the first dual-frequency pseudo range observation data and the second dual-frequency pseudo range observation data to obtain first dual-frequency pseudo range ionosphere-free observation data and second dual-frequency pseudo range ionosphere-free observation data;
the differential observation equation establishing module is used for carrying out differential operation on the first double-frequency pseudo range non-ionospheric combined observation data and the second double-frequency pseudo range non-ionospheric combined observation data to establish a differential observation equation;
the time difference monitoring random model establishing module is used for carrying out differential operation on the first auxiliary parameter data and the second auxiliary parameter data and establishing a time difference monitoring random model;
the parameter solving module is used for solving the differential observation equation and the time difference monitoring random model by adopting a least square method to obtain a time difference parameter between the first satellite navigation system and the second satellite navigation system;
the difference observation equation establishing module specifically includes:
a difference observation equation establishing submodule, configured to perform difference operation on the first dual-frequency pseudorange ionosphere-free combined observation data and the second dual-frequency pseudorange ionosphere-free combined observation data, and establish a difference observation equation:
wherein, PA,iAnd PB,jRespectively representing the ionospheric-free combined observation values rho of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system BA,iRepresenting the geometric distance, p, between the ith satellite of the first satellite navigation system A and the survey stationB,jRepresenting the geometric distance between the jth satellite of the second satellite navigation system B and the survey station;
a time difference between the first satellite navigation system A and the second satellite navigation system B; mA,iAnd MB,jTropospheric mapping coefficients representing an ith satellite of the first satellite navigation system a and a jth satellite of the second satellite navigation system B, respectively;
and
respectively representing the observation noise of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B; t is tropospheric delay, others is the sum of relativistic error, tidal error, antenna phase center deviation, tropospheric residual error and earth rotation error;
the time difference monitoring random model establishing module specifically comprises:
the first altitude angle calculation submodule is used for calculating the altitude angle of each satellite of the first satellite navigation system according to the first auxiliary parameter data to obtain first altitude angle data;
the second altitude angle calculation submodule is used for calculating the altitude angle of each satellite of the second satellite navigation system according to the second auxiliary parameter data to obtain second altitude angle data;
the time difference monitoring random model establishing submodule is used for establishing a time difference monitoring random model according to the first altitude angle data and the second altitude angle data:
wherein alpha isAiIs the observed noise, alpha, of the ith satellite of the first satellite navigation system ABjIs the observed noise of the jth satellite of the second satellite navigation system B, EAiIs the altitude angle of the ith satellite of the first satellite navigation system A, EBiIs the jth satellite altitude of the second satellite navigation system B.
4. The system for monitoring a time difference between satellite navigation systems according to claim 3, wherein the parameter solving module specifically comprises:
the first linearization submodule is used for carrying out linearization processing on the differential observation equation to obtain an error equation: v is EX-L;
wherein V is a residual vector,
vAB,AiBjthe difference value of the dual-frequency pseudo range ionosphere-free combined observation values of the ith satellite A of the first satellite navigation system and the jth satellite of the second satellite navigation system B is represented; i 1,2, …, R, j 1,2, …, S, R representing the number of satellites of the first satellite navigation system and S representing the number of satellites of the second satellite navigation system vAB ,AiBj＝PA,i-PB,j(ii) a E is a coefficient matrix of the unknown parameters,
the second linearization submodule is used for carrying out linear processing on the time difference monitoring random model to obtain a weight matrix:
pAB,AiBjrepresenting the weight of the ionosphere-free combined observation value of the dual-frequency pseudo range of the ith satellite of the first satellite navigation system A and the jth satellite of the second satellite navigation system B;
a parameter solving submodule for adopting a least square method according to the error equation and the corresponding weight matrix and utilizing a formula X ═ T (E) PE]-1*[T(E)PL]Solving the unknown parameter vector X to obtain the three-dimensional coordinates (X, y, z) of the monitoring station, the troposphere delay T and the time difference between the first satellite navigation system A and the second satellite navigation system B
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